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Added option to add rotated Box obstacle to TileCache. (#278)

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Very useful when you have a obstacle with a big difference in x to z ratio and that could be rotated (not aligned), like a wall.
This commit is contained in:
aymarfisherman 2017-07-25 08:35:23 -03:00 committed by Jakob Botsch Nielsen
parent 46654531e4
commit 840c100639
4 changed files with 130 additions and 2 deletions
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17
DetourTileCache/Include/DetourTileCache.h
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@ -38,7 +38,8 @@ enum ObstacleState
enum ObstacleType
{
DT_OBSTACLE_CYLINDER,
DT_OBSTACLE_BOX,
DT_OBSTACLE_BOX, // AABB
DT_OBSTACLE_ORIENTED_BOX, // OBB
};
struct dtObstacleCylinder
@ -54,6 +55,13 @@ struct dtObstacleBox
float bmax[ 3 ];
};
struct dtObstacleOrientedBox
{
float center[ 3 ];
float extents[ 3 ];
float rotAux[ 2 ]; //{ cos(0.5f*angle)*sin(-0.5f*angle); cos(0.5f*angle)*cos(0.5f*angle) - 0.5 }
};
static const int DT_MAX_TOUCHED_TILES = 8;
struct dtTileCacheObstacle
{
@ -61,6 +69,7 @@ struct dtTileCacheObstacle
{
dtObstacleCylinder cylinder;
dtObstacleBox box;
dtObstacleOrientedBox orientedBox;
};
dtCompressedTileRef touched[DT_MAX_TOUCHED_TILES];
@ -130,9 +139,15 @@ public:
dtStatus removeTile(dtCompressedTileRef ref, unsigned char** data, int* dataSize);
// Cylinder obstacle.
dtStatus addObstacle(const float* pos, const float radius, const float height, dtObstacleRef* result);
// Aabb obstacle.
dtStatus addBoxObstacle(const float* bmin, const float* bmax, dtObstacleRef* result);
// Box obstacle: can be rotated in Y.
dtStatus addBoxObstacle(const float* center, const float* extents, const float yRadians, dtObstacleRef* result);
dtStatus removeObstacle(const dtObstacleRef ref);
dtStatus queryTiles(const float* bmin, const float* bmax,

3
DetourTileCache/Include/DetourTileCacheBuilder.h
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@ -130,6 +130,9 @@ dtStatus dtMarkCylinderArea(dtTileCacheLayer& layer, const float* orig, const fl
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* bmin, const float* bmax, const unsigned char areaId);
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* center, const float* extents, const float* rotAux, const unsigned char areaId);
dtStatus dtBuildTileCacheRegions(dtTileCacheAlloc* alloc,
dtTileCacheLayer& layer,
const int walkableClimb);

56
DetourTileCache/Source/DetourTileCache.cpp
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@ -420,6 +420,45 @@ dtStatus dtTileCache::addBoxObstacle(const float* bmin, const float* bmax, dtObs
return DT_SUCCESS;
}
dtStatus dtTileCache::addBoxObstacle(const float* center, const float* extents, const float yRadians, dtObstacleRef* result)
{
if (m_nreqs >= MAX_REQUESTS)
return DT_FAILURE | DT_BUFFER_TOO_SMALL;
dtTileCacheObstacle* ob = 0;
if (m_nextFreeObstacle)
{
ob = m_nextFreeObstacle;
m_nextFreeObstacle = ob->next;
ob->next = 0;
}
if (!ob)
return DT_FAILURE | DT_OUT_OF_MEMORY;
unsigned short salt = ob->salt;
memset(ob, 0, sizeof(dtTileCacheObstacle));
ob->salt = salt;
ob->state = DT_OBSTACLE_PROCESSING;
ob->type = DT_OBSTACLE_ORIENTED_BOX;
dtVcopy(ob->orientedBox.center, center);
dtVcopy(ob->orientedBox.extents, extents);
float coshalf= cosf(0.5f*yRadians);
float sinhalf = sinf(-0.5f*yRadians);
ob->orientedBox.rotAux[0] = coshalf*sinhalf;
ob->orientedBox.rotAux[1] = coshalf*coshalf - 0.5f;
ObstacleRequest* req = &m_reqs[m_nreqs++];
memset(req, 0, sizeof(ObstacleRequest));
req->action = REQUEST_ADD;
req->ref = getObstacleRef(ob);
if (result)
*result = req->ref;
return DT_SUCCESS;
}
dtStatus dtTileCache::removeObstacle(const dtObstacleRef ref)
{
if (!ref)
@ -652,6 +691,11 @@ dtStatus dtTileCache::buildNavMeshTile(const dtCompressedTileRef ref, dtNavMesh*
dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
ob->box.bmin, ob->box.bmax, 0);
}
else if (ob->type == DT_OBSTACLE_ORIENTED_BOX)
{
dtMarkBoxArea(*bc.layer, tile->header->bmin, m_params.cs, m_params.ch,
ob->orientedBox.center, ob->orientedBox.extents, ob->orientedBox.rotAux, 0);
}
}
}
@ -761,4 +805,16 @@ void dtTileCache::getObstacleBounds(const struct dtTileCacheObstacle* ob, float*
dtVcopy(bmin, ob->box.bmin);
dtVcopy(bmax, ob->box.bmax);
}
else if (ob->type == DT_OBSTACLE_ORIENTED_BOX)
{
const dtObstacleOrientedBox &orientedBox = ob->orientedBox;
float maxr = 1.41f*dtMax(orientedBox.extents[0], orientedBox.extents[2]);
bmin[0] = orientedBox.center[0] - maxr;
bmax[0] = orientedBox.center[0] + maxr;
bmin[1] = orientedBox.center[1] - orientedBox.extents[1];
bmax[1] = orientedBox.center[1] + orientedBox.extents[1];
bmin[2] = orientedBox.center[2] - maxr;
bmax[2] = orientedBox.center[2] + maxr;
}
}

54
DetourTileCache/Source/DetourTileCacheBuilder.cpp
View File

@ -2041,6 +2041,60 @@ dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float c
return DT_SUCCESS;
}
dtStatus dtMarkBoxArea(dtTileCacheLayer& layer, const float* orig, const float cs, const float ch,
const float* center, const float* extents, const float* rotAux, const unsigned char areaId)
{
const int w = (int)layer.header->width;
const int h = (int)layer.header->height;
const float ics = 1.0f/cs;
const float ich = 1.0f/ch;
float cx = (center[0] - orig[0])*ics;
float cz = (center[2] - orig[2])*ics;
float maxr = 1.41f*dtMax(extents[0], extents[2]);
int minx = (int)floorf(cx - maxr*ics);
int maxx = (int)floorf(cx + maxr*ics);
int minz = (int)floorf(cz - maxr*ics);
int maxz = (int)floorf(cz + maxr*ics);
int miny = (int)floorf((center[1]-extents[1]-orig[1])*ich);
int maxy = (int)floorf((center[1]+extents[1]-orig[1])*ich);
if (maxx < 0) return DT_SUCCESS;
if (minx >= w) return DT_SUCCESS;
if (maxz < 0) return DT_SUCCESS;
if (minz >= h) return DT_SUCCESS;
if (minx < 0) minx = 0;
if (maxx >= w) maxx = w-1;
if (minz < 0) minz = 0;
if (maxz >= h) maxz = h-1;
float xhalf = extents[0]*ics + 0.5f;
float zhalf = extents[2]*ics + 0.5f;
for (int z = minz; z <= maxz; ++z)
{
for (int x = minx; x <= maxx; ++x)
{
float x2 = 2.0f*(float(x) - cx);
float z2 = 2.0f*(float(z) - cz);
float xrot = rotAux[1]*x2 + rotAux[0]*z2;
if (xrot > xhalf || xrot < -xhalf)
continue;
float zrot = rotAux[1]*z2 - rotAux[0]*x2;
if (zrot > zhalf || zrot < -zhalf)
continue;
const int y = layer.heights[x+z*w];
if (y < miny || y > maxy)
continue;
layer.areas[x+z*w] = areaId;
}
}
return DT_SUCCESS;
}
dtStatus dtBuildTileCacheLayer(dtTileCacheCompressor* comp,
dtTileCacheLayerHeader* header,
const unsigned char* heights,